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Kia EV9 lateral safety controls #3490

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Kia EV9 lateral safety controls #3490

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1 change: 1 addition & 0 deletions opendbc/car/hyundai/values.py
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Original file line number Diff line number Diff line change
Expand Up @@ -66,6 +66,7 @@ class HyundaiSafetyFlags(IntFlag):
CANFD_LKA_STEER_MSG_ALT = 128
FCEV_GAS = 256
ALT_LIMITS_2 = 512
CANFD_ANGLE_STEERING = 1024


# Hyundai/Kia/Genesis SCC (Smart Cruise Control) and steering architecture:
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40 changes: 36 additions & 4 deletions opendbc/safety/modes/hyundai_canfd.h
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Original file line number Diff line number Diff line change
Expand Up @@ -47,6 +47,7 @@

static bool hyundai_canfd_alt_buttons = false;
static bool hyundai_canfd_lka_steer_msg_alt = false;
static bool hyundai_canfd_angle_steering = false;

static unsigned int hyundai_canfd_get_lka_addr(void) {
return hyundai_canfd_lka_steer_msg_alt ? 0x110U : 0x50U;
Expand Down Expand Up @@ -80,6 +81,12 @@ static void hyundai_canfd_rx_hook(const CANPacket_t *msg) {
update_sample(&torque_driver, torque_driver_new);
}

// steering angle
if (msg->addr == 0x125U) {
int angle_meas_new = (int16_t)(((msg->data[4] & 0xFFU) << 8U) | msg->data[3]);
update_sample(&angle_meas, angle_meas_new);
}

// cruise buttons
const unsigned int button_addr = hyundai_canfd_alt_buttons ? 0x1aaU : 0x1cfU;
if (msg->addr == button_addr) {
Expand Down Expand Up @@ -158,11 +165,34 @@ static bool hyundai_canfd_tx_hook(const CANPacket_t *msg) {
// steering
const unsigned int steer_addr = (hyundai_canfd_lka_steer_msg && !hyundai_longitudinal) ? hyundai_canfd_get_lka_addr() : 0x12aU;
if (msg->addr == steer_addr) {
int desired_torque = (((msg->data[6] & 0xFU) << 7U) | (msg->data[5] >> 1U)) - 1024U;
bool steer_req = GET_BIT(msg, 52U);
if (hyundai_canfd_angle_steering) {
const AngleSteeringLimits HYUNDAI_CANFD_ANGLE_LIMITS = {
.max_angle = 500, // 50 degrees
.angle_deg_to_can = 10,
.angle_rate_up_lookup = {
{0., 40., 40.},
{5., 15., 15.},
},
.angle_rate_down_lookup = {
{0., 40., 40.},
{5., 15., 15.},
},
};

if (steer_torque_cmd_checks(desired_torque, steer_req, HYUNDAI_CANFD_STEERING_LIMITS)) {
tx = false;
int desired_angle_raw = (int16_t)(((msg->data[11] & 0xFFU) << 8U) | msg->data[10]);
int desired_angle = desired_angle_raw >> 2;
bool steer_req = ((msg->data[9] >> 1U) & 3U) != 0U;

if (steer_angle_cmd_checks(desired_angle, steer_req, HYUNDAI_CANFD_ANGLE_LIMITS)) {
tx = false;
}
} else {
int desired_torque = (((msg->data[6] & 0xFU) << 7U) | (msg->data[5] >> 1U)) - 1024U;
bool steer_req = GET_BIT(msg, 52U);

if (steer_torque_cmd_checks(desired_torque, steer_req, HYUNDAI_CANFD_STEERING_LIMITS)) {
tx = false;
}
}
}

Expand Down Expand Up @@ -218,6 +248,7 @@ static bool hyundai_canfd_tx_hook(const CANPacket_t *msg) {
static safety_config hyundai_canfd_init(uint16_t param) {
const uint16_t HYUNDAI_PARAM_CANFD_LKA_STEER_MSG_ALT = 128;
const uint16_t HYUNDAI_PARAM_CANFD_ALT_BUTTONS = 32;
const uint16_t HYUNDAI_PARAM_CANFD_ANGLE_STEERING = 1024;

static const CanMsg HYUNDAI_CANFD_LKA_STEER_MSG_TX_MSGS[] = {
HYUNDAI_CANFD_LKA_STEER_MSG_COMMON_TX_MSGS(0, 1)
Expand Down Expand Up @@ -267,6 +298,7 @@ static safety_config hyundai_canfd_init(uint16_t param) {
gen_crc_lookup_table_16(0x1021, hyundai_canfd_crc_lut);
hyundai_canfd_alt_buttons = GET_FLAG(param, HYUNDAI_PARAM_CANFD_ALT_BUTTONS);
hyundai_canfd_lka_steer_msg_alt = GET_FLAG(param, HYUNDAI_PARAM_CANFD_LKA_STEER_MSG_ALT);
hyundai_canfd_angle_steering = GET_FLAG(param, HYUNDAI_PARAM_CANFD_ANGLE_STEERING);

safety_config ret;
if (hyundai_longitudinal) {
Expand Down
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